Method and driving apparatus for delivering catheter and guidewire, computer device, and storage medium

Abstract

A driving apparatus for delivering a catheter guide wire includes a first driving mechanism, a second driving mechanism and a third driving mechanism. In the initial delivery stage, a catheter between the first driving mechanism and the second driving mechanism is in a bent state; during the first stage of delivery, the first driving mechanism delivers the catheter and a guide wire together, and in the continuous delivery process, the bending degree of the catheter between the first driving mechanism and the second driving mechanism gradually decreases; during the second stage of delivery, a detection mechanism detects whether the catheter between the first driving mechanism and the second driving mechanism is straightened, and if so, the third driving mechanism drives the second driving mechanism to move in the delivery direction of the catheter and the guide wire.

1 . A method for delivering a catheter and a guidewire, applied to a driving apparatus for delivering a catheter and a guidewire, the driving apparatus comprising a first driving mechanism, a second driving mechanism, a third driving mechanism, and a detection mechanism, wherein the method comprises the following specific steps:
 S 1 : threading the guidewire in the catheter, wherein a distance by which one end of the guidewire is exposed to one end of the catheter is a preset distance, one end of the catheter is clamped by the first driving mechanism, and the other end of the catheter is clamped by the second driving mechanism, wherein the catheter between the first driving mechanism and the second driving mechanism is bent;   S 2 : delivering, by the first driving mechanism, the catheter and the guidewire together, wherein a bending degree of the catheter between the first driving mechanism and the second driving mechanism gradually decreases during continuous delivery; and   S 3 : detecting, by the detection mechanism, whether the catheter between the first driving mechanism and the second driving mechanism is straightened, if so, driving, by the third driving mechanism, the second driving mechanism to move in a delivery direction of the catheter and the guidewire, and coordinating, by the first driving mechanism and the second driving mechanism, to deliver the catheter and the guidewire together, wherein the catheter between the first driving mechanism and the second driving mechanism is kept straightened during continuous delivery.   
     
     
         2 . The method for delivering a catheter and a guidewire according to  claim 1 , wherein the second driving mechanism comprises a guidewire rotating assembly and a guidewire delivery assembly, the guidewire is rotated by the guidewire rotating assembly, and the guidewire is delivered by the guidewire delivery assembly. 
     
     
         3 . The method for delivering a catheter and a guidewire according to  claim 1 , wherein the first driving mechanism comprises a catheter delivery assembly, and the catheter delivery assembly delivers the catheter and the guidewire together during the delivery in S 2 . 
     
     
         4 . The method for delivering a catheter and a guidewire according to  claim 3 , wherein during the delivery in S 3 , the third driving mechanism drives the second driving mechanism to move, and the catheter delivery assembly delivers one end of the catheter at the same speed as the second driving mechanism delivers the other end of the catheter, so as to keep the catheter between the first driving mechanism and the second driving mechanism straightened. 
     
     
         5 . The method for delivering a catheter and a guidewire according to  claim 1 , wherein the detection mechanism is a pressure sensor, and in S 3 , at a moment when the catheter is straightened, the pressure sensor detects a pressure signal and triggers the third driving mechanism to drive the second driving mechanism to move. 
     
     
         6 . The method for delivering a catheter and a guidewire according to  claim 5 , wherein during the continuous delivery in S 3 , the pressure sensor continuously detects the pressure signal to ensure that the catheter between the first driving mechanism and the second driving mechanism is straightened. 
     
     
         7 . The method for delivering a catheter and a guidewire according to  claim 1 , wherein the first driving mechanism further comprises a first catheter rotating assembly, the second driving mechanism further comprises a second catheter rotating assembly, and during the delivery in S 3 , the first catheter rotating assembly and the second catheter rotating assembly coordinate to rotate the catheter. 
     
     
         8 . The method for delivering a catheter and a guidewire according to  claim 1 , wherein the driving apparatus further comprises a displacement detection apparatus, and the method further comprises:
 S 4 : detecting, by the displacement detection apparatus, whether the second driving mechanism reaches a preset limit position; if so, stopping, by the second driving mechanism, displacement.   
     
     
         9 . The method for delivering a catheter and a guidewire according to  claim 8 , wherein the displacement detection apparatus is a photoelectric switch, and in S 4 , the photoelectric switch detects a moment when the second driving mechanism reaches the preset limit position, and the photoelectric switch detects a signal and triggers the second driving mechanism to stop moving. 
     
     
         10 . The method for delivering a catheter and a guidewire according to  claim 1 , wherein the first driving mechanism is fixedly arranged, and the third driving mechanism drives the second driving mechanism to move towards the first driving mechanism. 
     
     
         11 . A driving apparatus for delivering a catheter and a guidewire, configured to implement the method for delivering a catheter and a guidewire according to  claim 1 , wherein the driving apparatus comprises:
 a first driving mechanism, configured to clamp one end of the catheter;   a second driving mechanism, configured to clamp the other end of the catheter;   a third driving mechanism, configured to drive the second driving mechanism to move in a delivery direction of the catheter and the guidewire; and   a detection mechanism, configured to detect whether the catheter between the first driving mechanism and the second driving mechanism is straightened; wherein   in an initial stage, the guidewire is threaded in the catheter, a distance by which one end of the guidewire is exposed to one end of the catheter is a preset distance, one end of the catheter is clamped by the first driving mechanism, and the other end of the catheter is clamped by the second driving mechanism, wherein the catheter between the first driving mechanism and the second driving mechanism is bent; in a first delivery stage, the first driving mechanism delivers the catheter and the guidewire together, wherein a bending degree of the catheter between the first driving mechanism and the second driving mechanism gradually decreases during continuous delivery; and in a second delivery stage, the detection mechanism detects whether the catheter between the first driving mechanism and the second driving mechanism is straightened, if so, the third driving mechanism drives the second driving mechanism to move in the delivery direction of the catheter and the guidewire, and the first driving mechanism and the second driving mechanism coordinate to deliver the catheter and the guidewire together, wherein the catheter between the first driving mechanism and the second driving mechanism is kept straightened during continuous delivery.   
     
     
         12 . The driving apparatus for delivering a catheter and a guidewire according to  claim 11 , wherein the first driving mechanism comprises a catheter delivery assembly comprising a plurality of rotatable rollers, and the plurality of rollers are arranged on both sides of the catheter to deliver the catheter through rotation of the rollers themselves under the action of friction between the rollers and the catheter. 
     
     
         13  The driving apparatus for delivering a catheter and a guidewire according to  claim 12 , wherein
 the first driving mechanism further comprises a first catheter rotating assembly, the rollers are arranged on the first catheter rotating assembly, and the first catheter rotating assembly drives, through a gear, the rollers to revolve around an axis of the catheter to rotate the catheter. 
 
     
     
         14 . The driving apparatus for delivering a catheter and a guidewire according to  claim 13 , wherein
 the second driving mechanism further comprises a second catheter rotating assembly, the second catheter rotating assembly comprises a T-valve that is provided with a rotating component, and a rear end of the catheter is connected to the rotating component.   
     
     
         15 . The driving apparatus for delivering a catheter and a guidewire according to  claim 11 , wherein the second driving mechanism comprises a guidewire delivery assembly comprising a plurality of rotatable rollers, and the plurality of rollers are arranged on both sides of the guidewire to deliver the guidewire through rotation of the rollers themselves under the action of friction between the rollers and the guidewire. 
     
     
         16 . The driving apparatus for delivering a catheter and a guidewire according to  claim 11 , wherein the third driving mechanism is of a synchronous belt transmission structure or a screw transmission structure. 
     
     
         17 . The driving apparatus for delivering a catheter and a guidewire according to  claim 11 , wherein the detection mechanism is a pressure sensor, one end of the pressure sensor is in contact with a connecting plate, and at a moment when the catheter between the first driving mechanism and the second driving mechanism is straightened, a delivery force of the first driving mechanism on the catheter is transmitted through a rear end of the catheter to the second driving mechanism, so as to pull the second driving mechanism to move, and concurrently drive the connecting plate to move, the connecting plate generates a pressure on a surface of the pressure sensor during movement, and the pressure sensor detects a pressure signal and triggers the second driving mechanism to move. 
     
     
         18 . A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for delivering a catheter and a guidewire is implemented, the method is applied to a driving apparatus for delivering a catheter and a guidewire, and the driving apparatus comprises a first driving mechanism, a second driving mechanism, a third driving mechanism, and a detection mechanism, wherein the method comprises the following specific steps:
 S 1 : threading the guidewire in the catheter, wherein a distance by which one end of the guidewire is exposed to one end of the catheter is a preset distance, one end of the catheter is clamped by the first driving mechanism, and the other end of the catheter is clamped by the second driving mechanism, wherein the catheter between the first driving mechanism and the second driving mechanism is bent;   S 2 : delivering, by the first driving mechanism, the catheter and the guidewire together, wherein a bending degree of the catheter between the first driving mechanism and the second driving mechanism gradually decreases during continuous delivery; and   S 3 : detecting, by the detection mechanism, whether the catheter between the first driving mechanism and the second driving mechanism is straightened, if so, driving, by the third driving mechanism, the second driving mechanism to move in a delivery direction of the catheter and the guidewire, and coordinating, by the first driving mechanism and the second driving mechanism, to deliver the catheter and the guidewire together, wherein the catheter between the first driving mechanism and the second driving mechanism is kept straightened during continuous delivery.   
     
     
         19 . A computer-readable storage medium, having a computer program stored thereon, wherein when the computer program is executed by a processor, a method for delivering a catheter and a guidewire is implemented, the method is applied to a driving apparatus for delivering a catheter and a guidewire, and the driving apparatus comprises a first driving mechanism, a second driving mechanism, a third driving mechanism, and a detection mechanism, wherein the method comprises the following specific steps:
 S 1 : threading the guidewire in the catheter, wherein a distance by which one end of the guidewire is exposed to one end of the catheter is a preset distance, one end of the catheter is clamped by the first driving mechanism, and the other end of the catheter is clamped by the second driving mechanism, wherein the catheter between the first driving mechanism and the second driving mechanism is bent;   S 2 : delivering, by the first driving mechanism, the catheter and the guidewire together, wherein a bending degree of the catheter between the first driving mechanism and the second driving mechanism gradually decreases during continuous delivery; and   S 3 : detecting, by the detection mechanism, whether the catheter between the first driving mechanism and the second driving mechanism is straightened, if so, driving, by the third driving mechanism, the second driving mechanism to move in a delivery direction of the catheter and the guidewire, and coordinating, by the first driving mechanism and the second driving mechanism, to deliver the catheter and the guidewire together, wherein the catheter between the first driving mechanism and the second driving mechanism is kept straightened during continuous delivery.